An endoscopic capsule robot

A number of unique challenges arise in fabricating and assembling complex mechanisms at the meso-scale (hundreds of microns to centimetres). In general, for a complex multi-part mechanism at this length scale, no single machining technique can produce all the necessary parts—or often even a single individual part. Towards developing a comprehensive set of ‘best practices’ for combining multiple precision micromachining operations at the meso-scale, we present a case study on fabricating and assembling an endoscopic capsule robot. Existing passive imaging capsules have proven exceptionally useful in the diagnosis of the gastrointestinal tract, and robotic capsules promise to enhance their diagnostic capabilities and enable non-invasive treatment delivery. In this case study, we describe the fabrication of a robotic capsule (2.6 cm3 in volume) containing a complex mechanism consisting of 72 components, each of which requires a variety of mesoor even micro-scale features. We describe the manufacturing processes used to produce these components and features (combinations of high precision, multiply refixtured computer numerical control processes, sink and wire electro discharge machining , laser cutting, etc). These results contribute to the emerging framework of best practices in meso-scale design and manufacture, illustrating ways to effectively combine several processes to produce a complex meso-scale device. (Some figures in this article are in colour only in the electronic version)